Performance Comparison in Vision-Based Teleoperation of Subaquatic Vehicles - A Simulated Case Study

JORDAN, MARIO; BERGER, C.; DONINI, S.; ORSSI, J.

Bahía Blanca, RA

Congreso; Jornadas Argentinas de Robótica (JAR’08); 2008

Dto. Ing. Eléctrica y de Computadoras, Univ. Nac. del Sur

In this work, a study on vision-based teleoperation of underwater vehicles is presented. Two approaches are evaluated separately, namely: image motion coming from metric and motion perceptions upon external camera on one side, and, on the other side, upon egomotion with on-board camera. Based on simulation experiments under similar border conditions of the tracking problem, both approaches are compared. Human control is emulated with a visual interface and joystick connection, performing real-time control and animation. The paper is illustrated with a case study employing a controlled ROV with an intern high-performance controller navigating per teleoperation in a enclosure with regular two-dimensional texture.